points = []
target = "DJI_0635.JPG"
path = "/home/taylor/Pictures/mapping/cap_dec_2_2020/images/"
target_path = os.path.join(path, target)
target_coords = get_decimal_coordinates(get_exif(target_path))
target_gps = gps_tools.GpsPoint(target_coords[0], target_coords[1])
for r, d, f in os.walk(path):
for file in f:
if file.lower().endswith(('.png', '.jpg', '.jpeg')):
filepath = os.path.join(r, file)
coords = get_decimal_coordinates(get_exif(filepath))
gps_point = gps_tools.GpsPoint(coords[0], coords[1])
distance = gps_tools.get_distance(target_gps, gps_point)
if coords is not None and distance < 50:
points.append(
(coords[0], coords[1], os.path.basename(filepath)))
index = 0
# exif = get_exif('/home/taylor/Pictures/mapping/cap_dec_2_2020/images/DJI_0173.JPG')
# coords = get_decimal_coordinates(exif)
out_path = "/home/taylor/Pictures/mapping/cap_dec_2_2020/gps_test/"
# os.mkdir(out_path)
import shutil
print("name, dec, latitude, longitude, n")
for coords in points:
name = coords[2]
def rtk_loop_once(tcp_sock1, tcp_sock2, buffers, print_gps=False,
last_sample=None, retries=3, logger=None):
if not logger:
raise RuntimeError("No Logger Specified")
errors = 0
# print(buffers)
blocking_exception = None
while True:
try:
data0 = tcp_sock1.recv(TCP_BUFFER_SIZE).decode('utf-8')
data1 = tcp_sock2.recv(TCP_BUFFER_SIZE).decode('utf-8')
buffers[0] += data0
buffers[1] += data1
buffers[0], data1 = digest_data(buffers[0], logger)
buffers[1], data2 = digest_data(buffers[1], logger)
# print("Read GPS duration {}".format(time.time() - start_time))
break
except BlockingIOError as e:
blocking_exception = e
#print("GPS BlockingIOError")
except Exception as e:
logger.error("GPS ERROR DURING READ: {}".format(e))
errors += 1
time.sleep(_FAST_POLLING_DELAY_S)
if errors > retries:
# if blocking_exception is not None:
# print("ERROR GPS DATA NOT AVAILABLE")
# print("TOO MANY GPS ERRORS")
return buffers, None
try:
if data1 and data2:
azimuth_degrees = gps_tools.get_heading(
data1, data2) + VEHICLE_AZIMUTH_OFFSET_DEG
d = gps_tools.get_distance(data1, data2)
lat = (data1.lat + data2.lat) / 2.0
lon = (data1.lon + data2.lon) / 2.0
#print("HEIGHT DIFFERENCE {}".format(data1.height_m - data2.height_m))
height_m = (data1.height_m + data2.height_m) / 2.0
rtk_age = max([data1.rtk_age, data2.rtk_age])
latest_sample = gps_tools.GpsSample(lat, lon, height_m, (data1.status, data2.status), (
data1.num_sats, data2.num_sats), azimuth_degrees, data1.time_stamp, rtk_age)
if last_sample:
period = latest_sample.time_stamp - last_sample.time_stamp
else:
period = None
#print("GPS DEBUG: FIX reads... : {}".format(latest_sample.status))
if print_gps:
fix1 = data1.status == "fix"
fix2 = data2.status == "fix"
logger.info("Lat: {:.10f}, Lon: {:.10f}, Azimuth: {:.2f}, Distance: {:.4f}, Fixes: ({}, {}), Period: {:.2f}".format(
latest_sample.lat, latest_sample.lon, azimuth_degrees, d, fix1, fix2, period))
return buffers, latest_sample
else:
logger.error("Missing GPS Data")
return buffers, None
except KeyboardInterrupt as e:
raise e
except BlockingIOError:
return buffers, None
except Exception as e:
logger.error("GPS ERROR DURING PROCESSING: {}".format(e))
return buffers, None
new_path = new_path[-4320:-2200]
print(len(new_path))
# new_path = new_path[:100]
# print(new_path)
dict_path = []
new = []
for idx in range(0, len(new_path), 4):
new.append(new_path[idx])
new_path = new
# new_path[0]
last_distance = 0
print("%%%%%%%%%%%%%%%%%%")
for point in new_path:
# print(point._asdict())
try:
distance = gps_tools.get_distance(point, new_path[0])
if distance < last_distance:
print("EUEHGJKLEHGELJHG")
# last_distance = distance
print(gps_tools.get_distance(point, new_path[0]))
last_distance = distance
#
dict_path.append(point._asdict())
except Exception as e:
print(e)
pass
r.set('twistedfields:gpspath:aaa_test:key', pickle.dumps(dict_path))
r.set('twistedfields:gpspath:parking_to_upper_field:key',
pickle.dumps(dict_path))
sys.exit()
else:
last_bad_status_time = time.time()
while len(position_list) > 0:
if latest_sample.time_stamp - position_list[0].time_stamp > STATIONARY_TIME:
position_list.pop(0)
else:
break
if time.time() - last_bad_status_time < 30 and time.time() - bad_tone_time > 30:
bad_tone_time = time.time()
print("Bad status")
subprocess.Popen("aplay /home/pi/error.wav", shell=True)
if len(position_list) > 100 and time.time() - last_bad_status_time > STATIONARY_TIME:
device_stationary = True
max_distance = 0
for position in position_list:
distance = gps_tools.get_distance(latest_sample, position)
if distance > max_distance:
max_distance = distance
if distance > 0.05:
device_stationary = False
if device_stationary:
print("Device Stationary")
if save_file_okay:
# save the file
location_string = "Lat Lon: {:.10f}, {:.10f}, Height M: {:.4f}, Fix: {}, Spread: {}, Stamp: {:.4f}".format(
latest_sample.lat, latest_sample.lon, latest_sample.height_m, latest_sample.status, max_distance, latest_sample.time_stamp)
print(location_string)
with open("/home/pi/gps_locations.txt", "a+") as gps_file:
gps_file.write(location_string + "\n")
save_file_okay = False
if time.time() - good_tone_time > 10: